diff --git a/.github/workflows/examples-esp32.yaml b/.github/workflows/examples-esp32.yaml
index 5932570682a821..265a598302f118 100644
--- a/.github/workflows/examples-esp32.yaml
+++ b/.github/workflows/examples-esp32.yaml
@@ -34,6 +34,7 @@ jobs:
             volumes:
                 - "/tmp/bloat_reports:/tmp/bloat_reports"
                 - "/tmp/output_binaries:/tmp/output_binaries"
+                - "/tmp/base_binaries:/tmp/base_binaries"
 
         steps:
             - name: Checkout
@@ -84,3 +85,24 @@ jobs:
 #             - name: Perform CodeQL Analysis
 #               if: ${{ github.event_name == 'push' }}
 #               uses: github/codeql-action/analyze@v1
+            - name: Download Base Binaries
+              uses: dawidd6/action-download-artifact@v2
+              if: ${{ github.event_name == 'pull_request' }}
+              with:
+                  workflow: examples-esp32.yaml
+                  name: esp32-example-build-${{ github.event.pull_request.base.sha }}
+                  commit: ${{ github.event.pull_request.base.sha }}
+                  path: /tmp/base_binaries
+                  repo: kghost/connectedhomeip
+            - name: Report symbol diff
+              if: ${{ github.event_name == 'pull_request' }}
+              run: |
+                pip3 install cxxfilt pyelftools humanfriendly pandas && \
+                ./scripts/tools/memory/diffsyms.py --report-demangle \
+                    /tmp/base_binaries/chip-all-clusters-app.elf \
+                    /tmp/output_binaries/esp32-build/chip-all-clusters-app.elf \
+                | scripts/helpers/post_comment.py \
+                    --github-api-token "${{ secrets.GITHUB_TOKEN }}" \
+                    --github-repository kghost/connectedhomeip \
+                    --pr "${{ github.event.pull_request.number }}" \
+                    --title "ESP32 Symbols Diff"
diff --git a/scripts/helpers/post_comment.py b/scripts/helpers/post_comment.py
new file mode 100755
index 00000000000000..7debfd90d9e16e
--- /dev/null
+++ b/scripts/helpers/post_comment.py
@@ -0,0 +1,101 @@
+#!/usr/bin/env python3
+
+#
+# Copyright (c) 2021 Project CHIP Authors
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+
+import argparse
+import coloredlogs
+import github
+import logging
+import traceback
+import sys
+
+def main():
+  """Main task if executed standalone."""
+  parser = argparse.ArgumentParser(description='Fetch master build artifacts.')
+  parser.add_argument(
+      '--github-api-token',
+      type=str,
+      help='Github API token to upload the report as a comment')
+  parser.add_argument(
+      '--github-repository', type=str, help='Repository to use for PR comments')
+  parser.add_argument(
+      '--pr',
+      type=int,
+      help='The PR number of the pull request')
+  parser.add_argument(
+      '--title',
+      type=str,
+      help='Title of the comment')
+  parser.add_argument(
+      '--log-level',
+      default=logging.INFO,
+      type=lambda x: getattr(logging, x),
+      help='Configure the logging level.')
+  args = parser.parse_args()
+
+  # Ensures somewhat pretty logging of what is going on
+  logging.basicConfig(
+      level=args.log_level,
+      format='%(asctime)s - %(name)s - %(levelname)s - %(message)s')
+  coloredlogs.install()
+
+  if not args.github_api_token:
+    logging.error('Required arguments missing: github api token is required.')
+    return
+
+  try:
+    logging.info('Uploading report to "%s", PR %d', args.github_repository, args.pr)
+    logging.info('Title "%s"', args.title)
+
+    rawText = sys.stdin.read()
+    logging.info('Content "%s"', rawText)
+
+    api = github.Github(args.github_api_token)
+    repo = api.get_repo(args.github_repository)
+    pull = repo.get_pull(args.pr)
+
+    # Remove old comment
+    for comment in pull.get_issue_comments():
+      if not comment.user.login == 'github-actions[bot]':
+        continue
+      if not comment.body.startswith(args.title):
+        continue
+      logging.info('Removing obsolete comment with heading "%s"', (args.title))
+      comment.delete()
+
+    # Post new comment
+    pull.create_issue_comment("""{title} from {baseSha}
+
+  <details>
+    <summary>Full output</summary>
+
+  ```
+  {content}
+  ```
+
+  </details>
+  """.format(title=args.title, content=rawText, baseSha=pull.base.sha))
+
+  except Exception as e:
+    tb = traceback.format_exc()
+    logging.warning('Failed to post comment: %s', tb)
+
+
+
+if __name__ == '__main__':
+  # execute only if run as a script
+  main()